function   [xr_k  z_k]   = GenerateObs(xr_k, delta_t, type,  std_a, std_alpha, std_vw )
%%%%%%%%%%%%%%%%%%%%%%%%%
    xr_k = FV_X(xr_k,delta_t, type, std_a, std_alpha);
      
    H = [ zeros(3,3), zeros(3,4), eye(3), zeros(3,3); zeros(3,3), zeros(3,4),  zeros(3,3), eye(3) ];
    z_k  =  H* xr_k + random('Normal', 0, std_vw, 6, 1 );
    
    
    
    